Bin Picking Tutorial: Setting up Photoneo Bin Picking Studio with UR robots

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Revision as of 13:16, 5 February 2018 by Michald (talk | contribs) (3.3 Vytvorenie programu)

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1. Prerequisities

Photoneo UR Interface is compatible with Universal robots versions 1.8 and higher.


2. UR Controller setup

Following tutorial gives a step by step guide how to configure your UR controller and install all necessary UR scripts to get the robot interface for Photoneo Binpicking Solution running.

This tutorial was originally written using the latest UR v.3.5.1 (Screeny zo simulacie ale testovane na UR 1.8), however it should be compatible with older versions with minor changes.

Cely navod ako nastartovat a inicializovat robota: http://www.zacobria.com/universal-robots-zacobria-forum-hints-tips-how-to/turn-on-power/


2.1 Network configuration

Klik na setup robot

Ur start 2.png

Klik na Network

Setup robot.png

Vybrat static adress a vyplnit IP a subnet mask. Klik na apply

Network setup.png

3 Install Photoneo program

Je viacero sposobov ako dostat program do kontroleru – pouzitie USB alebo Ethernetoveho kablu


3.1 USB

Vlozit USB do pentantu zo spodu V hlavnej obrazovke (Prvy obrazok) kliknut na Program Robot a nasledne kliknut na Load.

Program robot.png

Zobrazi sa filesystem robota. Kliknite na USB->Photoneo a vyberte program photoneo_module.urp

Filesystem.png

Select photoneo module.png

Pokial sa pocas otvarania programu vyskytla chyba s kompatibilitou UR verzii, je vhodne vytvorit si program na novo (Opis v kapitole Vytvorenie noveho programu)

Select loaded module.png


Nasledne je potrebne program ulozit do PC. Klik na 'file' a vybrat 'save as'

3.2 Cez ethernet scp

Subory do robota je mozne poslat aj vzdialenym pristupom napr. z Linuxu vyuzitim scp. V terminali je potrebne dostat sa do priecinku s robotickym programom nasledne cely priecinok nakopirujete prikazom:

scp -r Photoneo root@10.0.1.136:/programs/Photoneo

Po zadani hesla budu subory skopirovane, prednastavene heslo je easybot

  • poznamka – takisto sa da pripojit aj cez windows, raz mi to UR-kaci ukazali ako sa na vzdialeni pc pripojit cez Notepad++ a poslat subory

3.3 Vytvorenie programu

Opat hlavnej obrazovke (Prvy obrazok) treba kliknut na Empty Robot

Empty program.png

Program pozostava z dvoch hlavnych casti: „Before start“ a „robot program“.

Na zaciatok treba zakliknut na obrazovke 'program' checkbox 'add BeforeStart sequence'

Empty program.png

Do before program je potrebne vlozit scripty, ktore su ulozene v priecinku Photoneo/scripts, bud na USB kluci alebo na skopirovanom priecinku cez scp.

Pridanie scriptu: 1. kliknut na BeforeStart na lavej liste 2. V strednom okne klinut na structure 3. Vybrat advance 4. Vybrat Script code

Add script.png

5. Opat v stredom okne kliknut na command 6. Vybrat file miesto line 7. Klik na edit Empty script.png